The dominant method for image-based localization is to estimate the camera pose from correspondences between 2D features in the query image and known 3D points in the scene. Because these correspondences are likely to contain mismatches, a best-fit model is found through Random Sample Consensus (RANSAC) [1]} or one of its derivatives [2]}, [3]}, where camera pose hypotheses are estimated from minimal samples of three point correspondences using a perspective-three-point (P3P) algorithm [1]}, [5]}.
